Robot and workbench relative pose calibration method and system, robot

Abstract

This invention relates to a method and system for relative pose calibration of a robot and a workbench, and a robot. The method includes: controlling a robotic arm to engage a first calibration component with a second calibration component on the workbench, thereby constraining the pose of the first calibration component relative to the second calibration component to a preset pose; obtaining a first mapping relationship between the coordinate system of the first calibration component and the coordinate system of the base; and determining a target mapping relationship between the coordinate system of the workbench and the coordinate system of the base based on the first mapping relationship, a second preset mapping relationship, and a third preset mapping relationship. The robot-workbench relative pose calibration method and system provided by this invention achieve high calibration accuracy, significantly improving the robot's operational precision.

Description

Technical Field

[0001] This invention relates to the field of robotic equipment technology, and in particular to a method and system for calibrating the relative pose of a robot and a workbench, and a robot. Background Technology

[0002] Robots are a crucial means of achieving industrial automation. In specific industrial applications, robots perform operations such as workpiece gripping and assembly, requiring the precise position of the workpiece, i.e., the worktable, to be known beforehand. This precise position can typically be obtained through manual input or robot teaching. Manual input requires very high measurement accuracy, while the teaching method demands that the relative position of the robot and the workpiece on the worktable remain unchanged throughout the entire operation process; otherwise, it becomes unusable. Typically, in some intelligent manufacturing processes, robots are mounted on mobile chassis (such as AGVs). These chassis allow the robot to switch between different workstations and perform corresponding operations, significantly improving production line efficiency and economy. However, the positioning accuracy of mobile chassis is relatively low, resulting in random errors in the relative position between the robot and the worktable after the robot switches to the next workstation, making subsequent operations difficult.

[0003] To address this issue, visual calibration is commonly used in related technologies. Specifically, after the robot moves to the designated workstation, a camera is used to calibrate the relative position of a specific object on the worktable with the robot. However, this method is highly dependent on the calibration environment. For example, inadequate lighting conditions or the presence of other interfering objects can significantly impact calibration accuracy, compromising the robot's operational precision. Summary of the Invention

[0004] Therefore, it is necessary to provide a robot and workbench relative pose calibration method and system with high calibration accuracy, as well as a robot.

[0005] The first aspect of this application provides a method for calibrating the relative pose of a robot and a workbench. The robot includes a base and a robotic arm connected to the base. The robotic arm is provided with a first calibration component. The method includes:

[0006] The robotic arm is controlled to drive the first calibration component to cooperate with the second calibration component on the worktable, so that the position of the first calibration component relative to the second calibration component is constrained to a preset position.

[0007] Obtain the first mapping relationship between the coordinate system of the first calibration component and the coordinate system of the base;

[0008] The target mapping relationship between the coordinate system of the worktable and the coordinate system of the base is determined based on the first mapping relationship, the second preset mapping relationship and the third preset mapping relationship;

[0009] The second preset mapping relationship is the mapping relationship between the coordinate system of the first calibration component and the coordinate system of the second calibration component when the first calibration component is in a preset pose. The third preset mapping relationship is the mapping relationship between the coordinate system of the second calibration component and the coordinate system of the worktable.

[0010] In the above scheme, the robotic arm is controlled to drive the first calibration component to cooperate with the second calibration component on the worktable, so that the pose of the first calibration component relative to the second calibration component is constrained to a preset pose. Under this preset pose, there is a second preset mapping relationship (a pre-set fixed amount) between the relative poses of the first and second calibration components, and a third preset mapping relationship (a pre-set fixed amount) between the relative poses of the second calibration component and the worktable. Therefore, it can be known that the first calibration component has a relatively fixed pose relationship with the worktable under the preset pose. Thus, as long as the relative pose relationship between the first calibration component and the robot's base under the preset pose, i.e., the first mapping relationship, is obtained, the relative positional relationship between the worktable and the robot's base, i.e., the target mapping relationship between the worktable's coordinate system and the base's coordinate system, can be determined based on the first, second, and third preset mapping relationships. This calibration process is not affected by external factors such as light or interference in the calibration environment, has high calibration accuracy, and greatly improves the robot's operational precision.

[0011] In one embodiment, the second calibration member includes a calibration hole whose inner contour matches the outer contour of the first calibration member. The step of controlling the robotic arm to drive the first calibration member to engage with the second calibration member provided on the worktable, so that the pose of the first calibration member relative to the second calibration member is constrained to a preset pose, includes:

[0012] The robotic arm is controlled to drive the first calibration component to insert into the calibration hole, so that the position of the first calibration component relative to the second calibration component is constrained to the preset position by the robotic arm and the calibration hole.

[0013] In one embodiment, the first calibration member has a protrusion on its side along the insertion direction, and the edge of the calibration hole has a positioning groove that communicates with the calibration hole and extends along the depth direction of the hole.

[0014] In one embodiment, the step of controlling the robotic arm to drive the first calibration member to engage with the second calibration member provided on the worktable, so that the pose of the first calibration member relative to the second calibration member is constrained to a preset pose, includes:

[0015] The robotic arm is controlled to move the first calibration component until its free end is within the opening range of the calibration hole;

[0016] The robotic arm is controlled to adjust the position of the first calibration part so that the Z-axis of the first calibration part coincides with the axis of the calibration hole, and the robotic arm is controlled to drive the first calibration part to be inserted into the calibration hole.

[0017] The robotic arm is controlled to rotate the first calibration component around the Z-axis until the protrusion of the first calibration component rotates to align with the slot.

[0018] The robotic arm is controlled to drive the first calibration component to be inserted into the bottom of the calibration hole along the hole depth direction.

[0019] In one embodiment, the edge of the calibration hole is further provided with a guide surface.

[0020] In one embodiment, the steps of controlling the robotic arm to insert the first calibration component into the calibration hole, and controlling the robotic arm to rotate the first calibration component around the Z-axis until the protrusion of the first calibration component is aligned with the locking slot include:

[0021] The robotic arm is controlled to drive the first calibration component into the calibration hole and make the protrusion abut against the guide surface;

[0022] Obtain the first torque applied to the protrusion along the Z-axis direction of the first calibration member by the guide surface;

[0023] Based on the first torque, admittance control is performed on the first calibration component in the Z-axis direction until the first torque reaches the first preset torque range; or the robotic arm is controlled to drive the first calibration component to reciprocate around the Z-axis direction until the first torque reaches the first preset torque range.

[0024] In one embodiment, the step of controlling the robotic arm to move the first calibration member until the free end of the first calibration member is within the opening range of the calibration hole includes:

[0025] The robotic arm is controlled to move the first calibration component until its free end contacts the guide surface;

[0026] The robotic arm is controlled to slide the first calibration component along the guide surface until the free end of the first calibration component is within the range of the calibration hole opening.

[0027] In one embodiment, the step of controlling the robotic arm to slide the first calibration member along the guide surface until the free end of the first calibration member is within the range of the calibration hole opening includes:

[0028] Obtain the first force along the X-axis of the first calibration member and the second force along the Y-axis of the first calibration member that are applied to the free end of the first calibration member;

[0029] Based on the first force and the second force, admittance control is performed on the first calibration component in the X-axis and Y-axis directions until both the first force and the second force are lower than the first force threshold.

[0030] In one embodiment, the step of controlling the robotic arm to adjust the pose of the first calibration member so that the Z-axis direction of the first calibration member coincides with the axis of the calibration hole includes:

[0031] The second torque along the X-axis of the first calibration member and the third torque along the Y-axis of the first calibration member are obtained at the free end of the first calibration member.

[0032] Based on the second torque and the third torque, the control robot arm drives the first calibration component to swing back and forth around the X-axis and around the Y-axis in sequence until the second torque reaches the second preset torque range and the third torque reaches the third preset torque range.

[0033] In one embodiment, after the step of controlling the robotic arm to move the first calibration member to the point where the free end of the first calibration member is within the opening range of the calibration hole, the method further includes:

[0034] Obtain the force acting on the free end of the first calibration piece;

[0035] If the applied force is less than the second applied force threshold, the robotic arm is controlled to drive the first calibration component to be inserted into the calibration hole along the hole depth direction.

[0036] A second aspect of this application provides a robot-to-workbench relative pose calibration system, comprising:

[0037] The robot includes a base and a robotic arm connected to the base, the robotic arm having a first calibration component;

[0038] The workbench is equipped with a second calibration component; and

[0039] The processor is used to control the robotic arm to drive the first calibration component and the second calibration component to cooperate, so that the pose of the first calibration component relative to the second calibration component is constrained to a preset pose;

[0040] Obtain the first mapping relationship between the coordinate system of the first calibration component and the coordinate system of the base;

[0041] The target mapping relationship between the coordinate system of the worktable and the coordinate system of the base is determined based on the first mapping relationship, the second preset mapping relationship, and the third preset mapping relationship.

[0042] The second preset mapping relationship is the mapping relationship between the coordinate system of the first calibration component and the coordinate system of the second calibration component when the first calibration component is in a preset pose. The third preset mapping relationship is the mapping relationship between the coordinate system of the second calibration component and the coordinate system of the worktable.

[0043] In one embodiment, the second calibrator includes a calibrator hole whose inner contour matches the outer contour of the first calibrator.

[0044] In one embodiment, the first calibration member has a protrusion on its side along the insertion direction, and the edge of the calibration hole has a positioning groove that communicates with the calibration hole and extends along the depth direction of the hole.

[0045] In one embodiment, the edge of the calibration hole is further provided with a guide surface.

[0046] A third aspect of this application provides a robot, including a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the steps of the above-described robot-to-workbench relative pose calibration method.

[0047] A fourth aspect of this application provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of the robot-workbench relative pose calibration method described above. Attached Figure Description

[0048] Figure 1 This is a schematic diagram of the structure of the robot and the worktable in a robot-worktable relative pose calibration method provided in an embodiment of this application;

[0049] Figure 2 A schematic diagram of the structure of the first calibration component and the second calibration component in the robot-workbench relative pose calibration method provided in an embodiment of this application;

[0050] Figure 3 This is a flowchart illustrating a method for relative pose calibration between a robot and a workbench according to an embodiment of this application.

[0051] Figure 4 This is a schematic diagram of the process of inserting the first calibration component into the calibration hole in the robot-workbench relative pose calibration method provided in an embodiment of this application;

[0052] Figure 5 This is a schematic diagram of the process of rotating the protrusion to align with the slot in a robot-workbench relative pose calibration method provided in an embodiment of this application.

[0053] Figure 6 A flowchart illustrating the steps of controlling the robotic arm to move the first calibration component to a position where the free end of the first calibration component is within the opening range of the calibration hole;

[0054] Figure 7 This is a schematic diagram showing the first calibration component in a first state relative to the second calibration component in a robot-workbench relative pose calibration method provided in an embodiment of this application.

[0055] Figure 8This is a schematic diagram showing the first calibration component in a second state relative to the second calibration component in a robot-workbench relative pose calibration method provided in an embodiment of this application.

[0056] Figure 9 This is a schematic diagram showing the first calibration component in a third state relative to the second calibration component in a robot-workbench relative pose calibration method provided in an embodiment of this application.

[0057] Figure 10 This is a schematic diagram showing the first calibration component in a fourth state relative to the second calibration component in a robot-workbench relative pose calibration method provided in an embodiment of this application.

[0058] Figure 11 This is a structural block diagram of a robot-workbench relative pose calibration system provided in an embodiment of this application.

[0059] Explanation of icon numbers:

[0060] 100. Robot; 110. Base; 120. Robotic arm; 121. Joint; 122. Arm; 123. End effector; 130. First calibration component; 131. Protrusion; 132. Inclined surface; 200. Worktable; 210. Second calibration component; 211. Calibration hole; 212. Slot; 213. Guide surface; 220. Workpiece;

[0061] 300. Robot-workbench relative pose calibration system; 310. Processor. Detailed Implementation

[0062] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of the present invention. However, the present invention can be practiced in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0063] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0064] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0065] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0066] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0067] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0068] The following description, in conjunction with the accompanying drawings, illustrates the robot-workbench relative pose calibration method and system, and the robot according to embodiments of this application. It should be noted that the robot in this application can, for example, be a 7-DOF redundant robot. During operation, this structure allows for efficient optimization of the control configuration using redundant degrees of freedom, thereby achieving efficient position and force control during flexible contact. However, the robot in this application is not limited to a 7-DOF robot. Depending on the actual application scenario, other numbers of redundant, non-redundant, or even under-redundant robots may also be applicable.

[0069] Figure 1 This is a schematic diagram of the robot and worktable structure in a robot-worktable relative pose calibration method provided in an embodiment of this application. Figure 2 This is a schematic diagram of the structure of the first calibration component and the second calibration component in the robot-workbench relative pose calibration method provided in an embodiment of this application.

[0070] Reference Figure 1 , Figure 2 The robot 100 may include a base 110 and a robotic arm 120 connected to the base 110. The robotic arm 120 may include several arms 122, joints 121, end effectors 123, and end flanges (not shown). The arms 122 are connected end-to-end via joints 121 to form the arm of the robotic arm 120, and the end effector 123 is connected to the end of the arm. In addition, each joint 121 is equipped with a drive device, such as a motor. These multiple joints 121 can ensure that the arm of the robotic arm 120 drives the end effector 123 to perform multi-degree-of-freedom movements. The first calibration member 130 can be mounted on the end effector 123 via a connector, such as an end flange, and is driven by the robotic arm 120 to perform multi-degree-of-freedom movements. In the embodiments of this application, the first calibration component 130 is installed on the robotic arm 120 via the end flange and the end effector 123 as an example for illustration. However, this application is not limited to this. The first calibration component 130 can also be installed on the robotic arm 120 via other connectors or connection methods, which will not be elaborated here.

[0071] Additionally, force and torque sensors may also be installed on the end effector 123 of the robotic arm 120. Figure 1 (Not shown in the figure) to detect the force and torque applied to the first calibration member 130. Alternatively, the robotic arm 120 may be equipped with force and / or torque sensors in each joint 121 and calculate and determine the force and torque applied to the first calibration member 130.

[0072] Furthermore, continue to refer to Figure 1 and Figure 2 A second calibration element 210 is provided on the worktable 200, and the workpiece 220 can be supported and fixed on the worktable 200. The second calibration element 210 includes a calibration hole 211 whose inner contour matches the outer contour of the first calibration element 130, and the first calibration element 130 can be inserted into the calibration hole 211 through the opening of the calibration hole 211. The first calibration element 130 can be configured as a pin. Here, in order to ensure calibration accuracy, the error of the fitting clearance between the first calibration element 130 and the calibration hole 211 should be controlled to be small, for example, 0.05mm.

[0073] For example, the first calibration member 130 has a protrusion 131 on its side along the insertion direction, and the edge of the calibration hole 211 has a locking groove 212 that communicates with the calibration hole 211 and extends along the depth direction of the hole. Thus, when the first calibration member 130 is inserted into the calibration hole 211 and the protrusion 131 is inserted into the locking groove 212, the first calibration member 130 cannot rotate relative to the second calibration member 210 around the X-axis, Y-axis, and Z-axis of the first calibration member 130. Furthermore, the movement of the first calibration member 130 along its own X-axis and Y-axis is also restricted by the second calibration member 210, and the movement of the first calibration member 130 along its own Z-axis is jointly limited by the robotic arm 120 and the second calibration member 210.

[0074] In this embodiment of the application, the protrusion 131 may be a rod-shaped member extending from the outer side of the first calibration member 130, and its setting position may be located at any position in the length direction of the first calibration member 130.

[0075] In addition, it is understood that the structure of the first calibration member 130 and the second calibration member 210 is not limited to this, and can be selected according to actual needs. For example, the first calibration member 130 can rotate along its own X-axis, Y-axis and Z-axis, and the first calibration member 130 can move along its own X-axis direction, Y direction and Z direction. All of these six degrees of freedom can be limited by the second calibration member 210. For example, the second calibration member 210 is also provided with a pressing part for pressing the first calibration member against the bottom of the calibration hole 211.

[0076] Alternatively, some degrees of freedom (if only the precise pose relationship between the worktable and the robot base in some degrees of freedom needs to be obtained) can be limited by the second calibration member 210, and the other degrees of freedom can be limited by the robotic arm 120. Of course, in either case, as long as the first calibration member 130 is in a preset pose relative to the second calibration member 210, it is acceptable.

[0077] Continue to refer to Figure 2 In this embodiment of the application, in order to facilitate the insertion of the first calibration member 130 into the second calibration member 210, a guide surface 213 is also constructed on the edge of the calibration hole 211. Furthermore, an inclined surface 132 is also constructed on the first calibration member 130 at the position corresponding to the guide surface 213, so as to further facilitate the insertion of the first calibration member 130 into the second calibration member 210.

[0078] Figure 3 This is a flowchart illustrating a method for calibrating the relative pose of a robot and a workbench according to an embodiment of this application.

[0079] Reference Figure 3 This application provides a method for calibrating the relative pose of a robot and a workbench, the method comprising:

[0080] S10. Control the robotic arm to drive the first calibration component to cooperate with the second calibration component on the worktable, so that the position of the first calibration component relative to the second calibration component is constrained to a preset position.

[0081] S20. Obtain the first mapping relationship between the coordinate system of the first calibration component and the coordinate system of the base;

[0082] S30. Determine the target mapping relationship between the coordinate system of the worktable and the coordinate system of the base according to the first mapping relationship, the second preset mapping relationship and the third preset mapping relationship; wherein, the second preset mapping relationship is the mapping relationship between the coordinate system of the first calibration component and the coordinate system of the second calibration component when the first calibration component is in a preset pose, and the third preset mapping relationship is the mapping relationship between the coordinate system of the second calibration component and the coordinate system of the worktable.

[0083] In the above scheme, by controlling the robotic arm 120 to drive the first calibration component 130 to cooperate with the second calibration component 210 provided on the worktable 200, the pose of the first calibration component 130 relative to the second calibration component 210 is constrained to a preset pose. Under this preset pose, there is a second preset mapping relationship (a fixed amount set in advance) between the relative poses of the first calibration component 130 and the second calibration component 210, and there is a third preset mapping relationship (a fixed amount set in advance) between the relative poses of the second calibration component 210 and the worktable 200. It can be seen that the first calibration component 130 has a relatively fixed pose relationship with the worktable 200 under the preset pose. Therefore, by obtaining the relative pose relationship between the first calibration component 130 and the base 110 of the robot 100 in a preset pose, i.e., the first mapping relationship, the relative positional relationship between the worktable 200 and the base 110 of the robot 100, i.e., the target mapping relationship between the coordinate system of the worktable 200 and the coordinate system of the base 110, can be determined based on the first mapping relationship, the second preset mapping relationship, and the third preset mapping relationship. This calibration process is not affected by factors such as light and interference in the external calibration environment, has high calibration accuracy, and greatly improves the working accuracy of the robot 100.

[0084] It should be noted that, for ease of explanation, in this embodiment, the coordinate system of the first calibration component 130 can be equivalently used as the end coordinate system of the robot 100, and the coordinate system of the base 110 can be equivalently used as the coordinate system of the robot 100. There is a third mapping relationship between the coordinate system of the second calibration component 210 and the coordinate system of the worktable 200. In this embodiment, the overlap of the two coordinate systems is used as an example for explanation; however, this application is not limited to this, and other mapping relationships are also possible.

[0085] It should also be noted that, in the embodiments of this application, the first mapping relationship between the coordinate system of the first calibration component 130 and the coordinate system of the base 110 refers to the transformation relationship between the coordinate system of the first calibration component 130 and the coordinate system of the base 110, such as the transformation matrix between the coordinate system of the first calibration component 130 and the coordinate system of the base 110.

[0086] Similarly, the second preset mapping relationship refers to the transformation relationship between the coordinate system of the first calibration component 130 and the coordinate system of the second calibration component 210, for example, it refers to the transformation matrix between the coordinate systems of the first calibration component 130 and the second calibration component 210. The third preset mapping relationship is the transformation relationship between the coordinate system of the second calibration component 210 and the coordinate system of the worktable 200, for example, it refers to the transformation matrix between the coordinate system of the second calibration component 210 and the coordinate system of the worktable 200.

[0087] In addition, the target mapping relationship refers to the transformation relationship between the coordinate system of the worktable 200 and the coordinate system of the base 110, such as the transformation matrix between the coordinate system of the worktable 200 and the coordinate system of the base 110.

[0088] In this embodiment of the application, in step S10, the pose of the first calibration member 130 relative to the second calibration member 210 is constrained to a preset pose. This means that the first calibration member 130 and the second calibration member 210 are relatively fixed, and in this case, the relative pose of the first calibration member 130 and the second calibration member 210 is a fixed and known value. For example, the relative pose of the first calibration member 130 and the second calibration member 210 under the preset pose can be obtained according to their size and fit relationship, thereby obtaining the second mapping relationship between the first calibration member 130 and the second calibration member 210 under this condition.

[0089] Specifically, there is a second mapping relationship between the first calibration component 130 and the second calibration component 210, and a third mapping relationship between the second calibration component 210 and the worktable 200. The relative pose of the first calibration component 130 and the worktable 200 can be solved by the second mapping relationship and the third relationship.

[0090] Further, in step S20, the first mapping relationship between the coordinate system of the first calibration component 130 and the coordinate system of the base 110 is obtained. When the first calibration component 130 moves under the drive of the robotic arm 120, the position and orientation of the first calibration component 130 relative to the base 110 can be obtained in real time according to the rotation angle of each joint 121 and the size of each arm 122, thereby the first mapping relationship between the coordinate system of the first calibration component 130 and the coordinate system of the base 110 can be obtained in real time.

[0091] In step S30, the step of determining the target mapping relationship between the coordinate system of the worktable and the coordinate system of the base based on the first mapping relationship, the second preset mapping relationship, and the third preset mapping relationship includes:

[0092] Based on the first mapping relationship and the second preset mapping relationship, the mapping relationship between the coordinate system of the second calibration component 210 and the coordinate system of the base 110 is determined; and based on the mapping relationship between the coordinate system of the second calibration component 210 and the coordinate system of the base 110, and the third preset mapping relationship between the coordinate system of the second calibration component 210 and the coordinate system of the worktable 200, the target mapping relationship between the coordinate system of the worktable 200 and the coordinate system of the base 110 is determined.

[0093] It is understandable that, since the workpiece 220 is set at a preset position on the worktable 200, when the target mapping relationship between the coordinate system of the worktable 200 and the coordinate system of the base 110 is determined, the relative pose of the workpiece 220 relative to the coordinate system of the base 110 can be calculated based on the relative pose of the workpiece 220 relative to the coordinate system of the worktable 200.

[0094] In this embodiment of the application, as described above, the second calibration member 210 includes a calibration hole 211 whose inner contour matches the outer contour of the first calibration member 130. In step S10, the step of controlling the robotic arm to drive the first calibration member to cooperate with the second calibration member provided on the worktable so that the pose of the first calibration member relative to the second calibration member is constrained to a preset pose includes:

[0095] The robotic arm 120 is controlled to drive the first calibration member 130 to insert into the calibration hole 211, so that the position of the first calibration member 130 relative to the second calibration member 210 is constrained to a preset position by the robotic arm 120 and the calibration hole 211.

[0096] Understandably, the first calibration component 130, in its own coordinate system, possesses six degrees of freedom: rotation around the X-axis, rotation around the Y-axis, rotation around the Z-axis, and movement along the X-axis, Y-axis, and Z-axis. When the first calibration component 130 is inserted into the calibration hole 211, these six degrees of freedom are restricted by the second calibration component 210, thereby constraining the pose of the first calibration component 130 relative to the second calibration component 210 to a preset pose, preventing it from moving relative to the second calibration component 210. It should be understood that in some application scenarios, if only the pose relationship between the worktable and the robot base in some degrees of freedom needs to be accurately obtained, the first calibration component 130 and the second calibration component 210 can only cooperate to constrain these required degrees of freedom, while the robotic arm 120 itself controls the movement of the first calibration component 130 in the remaining degrees of freedom.

[0097] For example, as described above, a protrusion 131 may be constructed on the side of the first calibration member 130 along the insertion direction, and a locking groove 212 may be constructed on the edge of the calibration hole 211, communicating with the calibration hole 211 and extending along the depth direction of the hole. Thus, when the first calibration member 130 is inserted into the calibration hole 211 and the protrusion 131 is inserted into the locking groove 212, the first calibration member 130 cannot rotate relative to the second calibration member 210 around its X, Y, and Z axes. Furthermore, the movement of the first calibration member 130 along its own X-axis and Y-axis is also restricted by the second calibration member 210, and the movement of the first calibration member 130 along its own Z-axis is jointly restricted by the robotic arm 120 and the second calibration member 210. Of course, this application is not limited to this; other structural forms are also possible, as long as the six degrees of freedom of the first calibration member 130 can be constrained, so that its pose relative to the second calibration member 210 is constrained to a preset pose.

[0098] Figure 4 This is a schematic diagram illustrating the process of inserting a first calibration component into a calibration hole in a robot-workbench relative pose calibration method provided in an embodiment of this application.

[0099] Reference Figure 4 For example, when the first calibration member has a protrusion and the calibration hole has a locking groove, in step S10, the step of controlling the robotic arm to drive the first calibration member to cooperate with the second calibration member provided on the worktable so that the position of the first calibration member relative to the second calibration member is constrained to a preset position includes:

[0100] S101, Control the robotic arm to move the first calibration component until the free end of the first calibration component is within the opening range of the calibration hole;

[0101] S102. Control the robotic arm to adjust the position of the first calibration part so that the Z-axis direction of the first calibration part coincides with the axis of the calibration hole, and control the robotic arm to drive the first calibration part to be inserted into the calibration hole.

[0102] S103. Control the robotic arm to drive the first calibration component to rotate around the Z-axis of the first calibration component until the protrusion of the first calibration component rotates to align with the slot.

[0103] S104. Control the robotic arm to drive the first calibration component to insert into the bottom of the calibration hole along the hole depth direction.

[0104] During the above process, the first calibration member 130 can be inserted into the calibration hole 211, and after insertion, the protrusion 131 of the first calibration member 130 is fitted into the locking groove 212, which enables the robotic arm 120 and the second calibration member 210 to constrain the six degrees of freedom of the first calibration member 130 together, so that the first calibration member 130 can be in a preset position relative to the second calibration member 210.

[0105] Figure 5 This is a schematic diagram illustrating the process of rotating the protrusion to align with the locking slot in a robot-workbench relative pose calibration method provided in an embodiment of this application.

[0106] Furthermore, referring to Figure 5 In steps S102 and S103, the steps of controlling the robotic arm to drive the first calibration component to be inserted into the calibration hole, and controlling the robotic arm to drive the first calibration component to rotate around the Z-axis of the first calibration component until the protrusion of the first calibration component is aligned with the slot include:

[0107] S1031. Control the robotic arm to drive the first calibration component into the calibration hole, and make the protrusion abut against the guide surface;

[0108] S1032, Obtain the first torque applied to the protrusion of the guide surface in the Z-axis direction of the first calibration member;

[0109] S1033. Based on the first torque, the admittance control of the first calibration component is performed in the Z-axis direction until the first torque reaches the first preset torque range.

[0110] It is understandable that when the first torque reaches the first preset torque range, it can be assumed that the guide surface 213 of the calibration hole 211 no longer applies torque along the Z-axis to the protrusion 131 of the first calibration member 130, and it is determined that the protrusion 131 has entered the locking groove 212.

[0111] In step S1033, since the protrusion 131 applies a first torque along the Z-axis to the first calibration member 130, the first torque is used as the input quantity, and admittance control is adopted to control the rotation of the first calibration member 130 around the Z-axis.

[0112] Optionally, step S1033 can also be replaced by controlling the robotic arm 120 to drive the first calibration component 130 to reciprocate around the Z-axis until the first torque reaches the first preset torque range.

[0113] In specific implementation, the guide surface 213 contacts the protrusion 131. At this time, the first calibration member 130 can reciprocate only around the Z-axis. During the reciprocating rotation, if the robot 100 detects that the torque is greater than a certain preset threshold, it means that the first calibration member 130 and the second calibration member 210 are in contact and squeezed in the current rotation direction, and the rotation trajectory is then reversed. This process is repeated until the first torque reaches the first preset torque range.

[0114] Figure 6 A flowchart illustrating the steps of controlling the robotic arm to move the first calibration component to a position where the free end of the first calibration component is within the opening range of the calibration hole.

[0115] In the embodiments of this application, reference is made to Figure 6 In step S101, the step of controlling the robotic arm to move the first calibration component to a position where the free end of the first calibration component is within the opening range of the calibration hole includes:

[0116] S1011, Control the robotic arm to move the first calibration component until the free end of the first calibration component contacts the guide surface;

[0117] S1012. Control the robotic arm to drive the first calibration component to slide along the guide surface until the free end of the first calibration component is within the range of the calibration hole opening.

[0118] In step S1011, the robotic arm 120 is controlled to move the first calibration component 130 until its free end contacts the guide surface 213. Specifically, this can be achieved by using methods such as camera capture to initially obtain the relative pose of the second calibration component 210 and the base 110. The robot 100 (base 110) is then controlled to move until the first calibration component 130 is near the second calibration component 210. The robotic arm 120 is then controlled to move the first calibration component 130 along its Z-axis until the force and torque sensors detect a reaction force greater than a preset third preset force threshold. At this point, the free end of the first calibration component 130 contacts the guide surface 213. Of course, to ensure that the free end of the first calibration component 130 contacts the guide surface 213, the radial length of the guide surface 213 along the calibration hole 211 must be greater than the positional positioning accuracy deviation of the base 110 relative to the worktable 200.

[0119] For step S1012, the step of controlling the robotic arm to slide the first calibration component along the guide surface until the free end of the first calibration component is within the range of the calibration hole opening specifically includes:

[0120] Obtain the first force along the X-axis of the first calibration member and the second force along the Y-axis of the first calibration member that are applied to the free end of the first calibration member;

[0121] Based on the first and second forces, admittance control is applied to the first calibration component in the X and Y axes until both the first and second forces are below the first force threshold. Here, the first force threshold can be, for example, a small value.

[0122] In practice, the robotic arm 120 can be controlled to always apply a stabilizing force along the Z-axis of the first calibration member 130. The first calibration member 130 will be subjected to a first force and a second force along the X-axis and Y-axis applied by the guide surface 213. With the first force and the second force as input quantities, admittance control can be performed to control the movement of the robotic arm 120 in the XY plane until both the first force and the second force are lower than the first force threshold. Then the first calibration member 130 can slide down the inclined surface of the guide surface 213 until the free end of the first calibration member 130 is located within the opening range of the calibration hole 211.

[0123] In this embodiment of the application, step S102, which involves controlling the robotic arm to adjust the pose of the first calibration component so that the Z-axis direction of the first calibration component coincides with the axis of the calibration hole, includes:

[0124] The system obtains a second torque along the X-axis of the first calibration component and a third torque along the Y-axis of the first calibration component. Based on the second torque and the third torque, the system controls the robotic arm to drive the first calibration component to swing back and forth around the X-axis and around the Y-axis in sequence until the second torque reaches the second preset torque range and the third torque reaches the third preset torque range.

[0125] In specific implementation, when the free end of the first calibration member 130 is within the opening range of the calibration hole 211, the first calibration member 130 is made to oscillate back and forth around the X-axis and Y-axis, that is, to execute a trajectory of a specific search strategy around the X-axis and Y-axis. This oscillation includes, but is not limited to, helical oscillation motion and sequential oscillation motion. In the embodiment of this application, the oscillation can be a sequential oscillation trajectory. In other words, the first calibration member 130 oscillates back and forth around the X-axis and Y-axis sequentially. Of course, the oscillation angle must be greater than the maximum pose deviation of the base 110.

[0126] During the aforementioned reciprocating oscillation process, for example, when oscillating around the X-axis, if the robot 100 detects that the torque exceeds a preset threshold, this means that the first calibration member 130 and the second calibration member 210 come into contact and press in the current oscillation direction, and the oscillation trajectory immediately changes direction. This process repeats until both the oscillations around the X-axis and the Y-axis are completed, and the free end of the first calibration member 130 can finally be successfully inserted into the calibration hole 211. Of course, at this time, because the protrusion 131 is stuck on the guide surface 213, only a portion of the first calibration member 130 is inserted into the calibration hole 211.

[0127] In this embodiment of the application, after step S101, which involves controlling the robotic arm to move the first calibration member to the point where the free end of the first calibration member is within the opening range of the calibration hole, the method further includes:

[0128] The force exerted on the free end of the first calibration component is obtained. If the force is less than a second force threshold, the robotic arm is controlled to drive the first calibration component to be inserted into the calibration hole along the hole depth direction. The second force threshold can be, for example, a small value close to 0.

[0129] This situation corresponds to the case where the base 110 is positioned without error. That is, when the robotic arm 120 moves the first calibration component 130 above the second calibration component 210, the first calibration component 130 moves downward along its own Z-axis direction and can be perfectly inserted into the calibration hole 211 of the second calibration component 210.

[0130] If the applied force is greater than the second applied force threshold, the steps S102-S104 above can continue.

[0131] Figure 7 This is a schematic diagram showing the first calibration component in a first state relative to the second calibration component in a robot-workbench relative pose calibration method provided in an embodiment of this application. Figure 8 This is a schematic diagram showing the first calibration component in a second state relative to the second calibration component in a robot-worktable relative pose calibration method provided in an embodiment of this application. Figure 9 This is a schematic diagram showing the first calibration component in a third state relative to the second calibration component in a robot-workbench relative pose calibration method provided in an embodiment of this application. Figure 10 This is a schematic diagram showing the first calibration component in a fourth state relative to the second calibration component in a robot-workbench relative pose calibration method provided in an embodiment of this application.

[0132] The following is a specific example detailing the steps to enable the robotic arm to engage the first calibration component with the second calibration component on the worktable. These steps include:

[0133] Step 1: Control the robotic arm 120 to move the first calibration component 130 towards the second calibration component 210, and obtain the force on the free end of the first calibration component 130. If the force is less than the second force threshold, control the robotic arm 120 to move the first calibration component 130 into the calibration hole 211 along the hole depth direction. If the force is greater than the second force threshold, proceed to Step 2.

[0134] Step 2: Control the robotic arm 120 to move the first calibration component 130 along the Z-axis until the force on the free end of the first calibration component 130 is greater than the preset third preset force threshold. At this time, the free end of the first calibration component 130 contacts the guide surface 213. Figure 7 The first state.

[0135] Step 3: The robotic arm 120 can be controlled to consistently apply a stabilizing force along the Z-axis of the first calibration member 130. The first calibration member 130 will be subjected to a first force and a second force along the X-axis and Y-axis applied by the guide plate. Using the first force and the second force as input quantities, admittance control can be performed to control the movement of the robotic arm 120 in the XY plane until both the first force and the second force are lower than the first force threshold. Then, the first calibration member 130 can slide down the inclined surface of the guide surface 213 until the free end of the first calibration member 130 is within the opening range of the calibration hole 211. Figure 8 The second state.

[0136] Step 4: When the free end of the first calibration member 130 is within the opening range of the calibration hole 211, the first calibration member 130 is made to oscillate back and forth around the X-axis and Y-axis, that is, to execute a trajectory of a specific search strategy in the RX and RY directions. This oscillation includes, but is not limited to, helical oscillation motion and sequential oscillation motion. In this step, the oscillation includes sequential oscillation trajectory. In other words, the first calibration member 130 oscillates back and forth around the X-axis and Y-axis sequentially. Of course, the oscillation angle must be greater than the maximum pose deviation of the base 110.

[0137] During the aforementioned reciprocating oscillation process, for example, when oscillating around the X-axis, if the force and torque sensors detect a torque greater than another preset threshold, this means that the first calibration member 130 and the second calibration member 210 come into contact and press in the current oscillation direction, and the oscillation trajectory immediately reverses direction. This process repeats until both the oscillations around the X and Y directions are completed, and the free end of the first calibration member 130 can finally be successfully inserted into the calibration hole 211. Of course, at this time, because the protrusion 131 is abutting against the guide surface 213, only a portion of the first calibration member 130 is inserted into the calibration hole 211. Figure 9 The third state is shown.

[0138] Step 5: In the third state, since the protrusion 131 applies a first torque along the Z-axis to the first calibration member 130, using this first torque as input, admittance control can be used to control the rotation of the first calibration member 130 around the Z-axis until the protrusion 131 aligns with the locking groove 212 and enters the locking groove 212, as shown. Figure 10 As shown in state four.

[0139] Alternatively, a reciprocating rotation strategy similar to step three can be considered for rotation around the Z-axis. Specifically, the guide surface 213 contacts the protrusion 131. At this time, the first calibration member 130 can reciprocate only around the Z-axis. During this reciprocating rotation, if the robot 100 detects that the torque exceeds a certain preset threshold, it means that the first calibration member 130 and the second calibration member 210 are in contact and pressed in the current swing direction, and the swing trajectory immediately changes direction. This process repeats until the first torque reaches the first preset torque range. At this time, the protrusion 131 aligns with the locking groove 212 and enters the locking groove 212, such as... Figure 10 As shown in state four.

[0140] After the first calibration component 130 is successfully inserted into the calibration hole 211 of the second calibration component 210, when the coordinate systems of the first calibration component 130, the second calibration component 210, and the worktable 200 coincide, the pose of the first calibration component 130 in the coordinate system of the base 110 is the pose of the worktable 200 relative to the base 110. Thus, the relative pose of the robot 100 and the worktable 200 can be determined.

[0141] Figure 11 This is a structural block diagram of a robot 100 provided in one embodiment of this application.

[0142] Combination Figure 1 , Figure 2 , Figure 11 Some embodiments of this application provide a robot-to-workbench relative pose calibration system 300, the system comprising:

[0143] Robot 100 includes a base 110 and a robotic arm 120 connected to the base 110, and the robotic arm 120 is provided with a first calibration component 130;

[0144] Workbench 200, on which a second calibration component 210 is provided; and

[0145] The processor 310 is used to control the robotic arm 120 to drive the first calibration member 130 to cooperate with the second calibration member 210 so that the pose of the first calibration member 130 relative to the second calibration member 210 is constrained to a preset pose.

[0146] Obtain the first mapping relationship between the coordinate system of the first calibration component 130 and the coordinate system of the base 110;

[0147] The target mapping relationship between the coordinate system of the worktable 200 and the coordinate system of the base 110 is determined based on the first mapping relationship, the second preset mapping relationship and the third preset mapping relationship;

[0148] The second preset mapping relationship is the mapping relationship between the coordinate system of the first calibration component 130 and the coordinate system of the second calibration component 210 when the first calibration component 130 is in a preset pose, and the third preset mapping relationship is the mapping relationship between the coordinate system of the second calibration component 210 and the coordinate system of the worktable 200.

[0149] Furthermore, the second calibration member 210 includes a calibration hole 211 whose inner contour matches the outer contour of the first calibration member 130.

[0150] Furthermore, the processor 310 is specifically used to control the robotic arm 120 to drive the first calibration member 130 to insert into the calibration hole 211, so that the pose of the first calibration member 130 relative to the second calibration member 210 is constrained to a preset pose by the robotic arm 120 and the calibration hole 211.

[0151] In this embodiment of the application, optionally, the first calibration member 130 has a protrusion 131 on its side along the insertion direction, and the edge of the calibration hole 211 has a positioning groove 212 that communicates with the calibration hole 211 and extends along the depth direction of the hole.

[0152] Furthermore, the processor 310 is specifically used to: control the robotic arm 120 to move the first calibration member 130 until the free end of the first calibration member 130 is within the opening range of the calibration hole 211;

[0153] The robotic arm 120 is controlled to adjust the position of the first calibration component 130 so that the Z-axis direction of the first calibration component 130 coincides with the axis of the calibration hole 211, and the robotic arm 120 is controlled to drive the first calibration component 130 to partially insert into the calibration hole 211.

[0154] The control robot arm 120 drives the first calibration component 130 to rotate around the Z direction of the first calibration component 130 until the protrusion 131 of the first calibration component 130 is rotated to be aligned with the locking groove 212;

[0155] The robotic arm 120 is controlled to drive the first calibration component 130 to be inserted into the bottom of the calibration hole 211 along the hole depth direction.

[0156] Furthermore, the edge of the calibration hole 211 is also provided with a guide surface 213.

[0157] Furthermore, the processor 310 is specifically used for:

[0158] The robotic arm 120 is controlled to drive the first calibration component 130 to insert into the calibration hole 211, and the protrusion 131 abuts against the guide surface 213;

[0159] The first torque applied by the guide surface 213 to the protrusion 131 in the Z-axis direction of the first calibration member 130 is obtained;

[0160] Based on the first torque, admittance control is performed on the first calibration component 130 in the Z-axis direction until the first torque reaches the first preset torque range; or the robotic arm 120 is controlled to drive the first calibration component 130 to reciprocate around the Z-axis direction until the first torque reaches the first preset torque range.

[0161] Furthermore, the processor 310 is specifically used to: control the robotic arm 120 to move the first calibration member 130 until the free end of the first calibration member 130 contacts the guide surface 213; control the robotic arm 120 to slide the first calibration member 130 along the guide surface 213 until the free end of the first calibration member 130 is within the opening range of the calibration hole 211.

[0162] Furthermore, the processor 310 is specifically used to: acquire a first force along the X-axis of the first calibration member 130 and a second force along the Y-axis of the first calibration member 130 on the free end of the first calibration member 130;

[0163] Based on the first force and the second force, admittance control is performed on the first calibration element 130 in the X-axis and Y-axis directions until both the first force and the second force are lower than the first force threshold.

[0164] Furthermore, the processor 310 is specifically used to obtain a second torque along the X-axis direction of the first calibration member 130 and a third torque along the Y-axis direction of the first calibration member 130, which are received by the free end of the first calibration member 130.

[0165] Based on the second torque and the third torque, the control robot arm 120 drives the first calibration component 130 to swing back and forth around the X-axis and around the Y-axis in sequence until the second torque reaches the second preset torque range and the third torque reaches the third preset torque range.

[0166] Furthermore, the processor 310 is also used to: acquire the force acting on the free end of the first calibration member 130;

[0167] If the applied force is less than the second applied force threshold, the robotic arm 120 is controlled to drive the first calibration component 130 to be inserted into the calibration hole 211 along the hole depth direction.

[0168] Furthermore, the processor 310 is specifically used to: determine the mapping relationship between the coordinate system of the second calibration component 210 and the coordinate system of the base 110 according to the first mapping relationship and the second preset mapping relationship;

[0169] Based on the mapping relationship between the coordinate system of the second calibration component 210 and the coordinate system of the base 110, and the third preset mapping relationship, the target mapping relationship between the coordinate system of the worktable 200 and the coordinate system of the base 110 is determined.

[0170] Thirdly, some embodiments of this application provide a robot 100, including a memory and a processor 310. The memory stores a computer program, and when the processor 310 executes the computer program, it implements the steps of the aforementioned robot-workbench relative pose calibration method. The implementation principle and technical effect are similar, and will not be repeated here.

[0171] Fourthly, some embodiments of this application provide a computer-readable storage medium storing a computer program thereon. When the computer program is executed by the processor 310, it implements the steps of the aforementioned robot-workbench relative pose calibration method. The implementation principle and technical effect are similar, and will not be repeated here.

[0172] Fifthly, some embodiments of this application provide a computer program product, including a computer program that, when executed by a processor, implements the steps of the aforementioned robot-workbench relative pose calibration method. Its implementation principle and technical effects are similar and will not be repeated here.

[0173] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0174] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended claims.

Claims

1. A method for calibrating the relative pose of a robot and a workbench, characterized in that, The robot includes a base and a robotic arm connected to the base, the robotic arm being provided with a first calibration component, and the method includes: The robotic arm is controlled to drive the first calibration component to cooperate with the second calibration component provided on the worktable, so that the position of the first calibration component relative to the second calibration component is constrained to a preset position. Obtain the first mapping relationship between the coordinate system of the first calibration component and the coordinate system of the base; The target mapping relationship between the coordinate system of the worktable and the coordinate system of the base is determined based on the first mapping relationship, the second preset mapping relationship, and the third preset mapping relationship. Wherein, the second preset mapping relationship is the mapping relationship between the coordinate system of the first calibration component and the coordinate system of the second calibration component when the first calibration component is in the preset pose, and the third preset mapping relationship is the mapping relationship between the coordinate system of the second calibration component and the coordinate system of the worktable.

2. The method for relative pose calibration of the robot and the workbench according to claim 1, characterized in that, The second calibration component includes a calibration hole whose inner contour matches the outer contour of the first calibration component. The step of controlling the robotic arm to drive the first calibration component to engage with the second calibration component on the worktable, so that the pose of the first calibration component relative to the second calibration component is constrained to a preset pose, includes: The robotic arm is controlled to drive the first calibration component to insert into the calibration hole, so that the position of the first calibration component relative to the second calibration component is constrained to the preset position by the robotic arm and the calibration hole.

3. The method for relative pose calibration of the robot and the workbench according to claim 2, characterized in that, The first calibration member has a protrusion on its side along the insertion direction, and the edge of the calibration hole has a positioning groove that communicates with the calibration hole and extends along the depth direction of the hole.

4. The robot-workbench relative pose calibration method according to claim 3, characterized in that, The step of controlling the robotic arm to drive the first calibration member to cooperate with the second calibration member provided on the worktable, so that the pose of the first calibration member relative to the second calibration member is constrained to a preset pose, includes: Control the robotic arm to move the first calibration component until the free end of the first calibration component is within the opening range of the calibration hole; The robotic arm is controlled to adjust the position of the first calibration component so that the Z-axis direction of the first calibration component coincides with the axis of the calibration hole, and the robotic arm is controlled to drive the first calibration component to be partially inserted into the calibration hole. The robotic arm is controlled to drive the first calibration component to rotate around the Z-axis of the first calibration component until the protrusion of the first calibration component rotates to align with the locking groove. The robotic arm is controlled to drive the first calibration component to be inserted into the bottom of the calibration hole along the depth direction of the hole.

5. The robot-workbench relative pose calibration method according to claim 4, characterized in that, The calibration hole also has a guide surface constructed on its opening edge.

6. The robot-workbench relative pose calibration method according to claim 5, characterized in that, The steps of controlling the robotic arm to drive the first calibration component to be partially inserted into the calibration hole, and controlling the robotic arm to drive the first calibration component to rotate around the Z-axis of the first calibration component until the protrusion of the first calibration component is rotated to be aligned with the locking groove include: The robotic arm is controlled to drive the first calibration component into the calibration hole, and the protrusion abuts against the guide surface. Obtain the first torque applied by the guide surface to the protrusion along the Z-axis direction of the first calibration member; Based on the first torque, admittance control is applied to the first calibration component in the Z-axis direction until the first torque reaches a first preset torque range; or the robotic arm is controlled to drive the first calibration component to reciprocate around the Z-axis direction until the first torque reaches a first preset torque range.

7. The method for relative pose calibration of the robot and the workbench according to claim 4, characterized in that, The step of controlling the robotic arm to move the first calibration member until the free end of the first calibration member is within the opening range of the calibration hole includes: The robotic arm is controlled to move the first calibration component until its free end contacts the guide surface; The robotic arm is controlled to slide the first calibration component along the guide surface until the free end of the first calibration component is within the range of the calibration hole opening.

8. The method for relative pose calibration of the robot and the workbench according to claim 7, characterized in that, The step of controlling the robotic arm to slide the first calibration member along the guide surface until the free end of the first calibration member is within the range of the calibration hole opening includes: Obtain the first force along the X-axis of the first calibration member and the second force along the Y-axis of the first calibration member that are applied to the free end of the first calibration member; Based on the first force and the second force, admittance control is performed on the first calibration component in the X-axis direction and the Y-axis direction until both the first force and the second force are lower than the first force threshold.

9. The robot-workbench relative pose calibration method according to claim 4, characterized in that, The step of controlling the robotic arm to adjust the pose of the first calibration component to be aligned with the axis of the calibration hole in the Z-axis direction of the first calibration component includes: The second torque along the X-axis of the first calibration member and the third torque along the Y-axis of the first calibration member are obtained at the free end of the first calibration member. Based on the second torque and the third torque, the robotic arm is controlled to drive the first calibration component to swing back and forth around the X-axis and around the Y-axis in sequence until the second torque reaches the second preset torque range and the third torque reaches the third preset torque range.

10. The robot-table relative pose calibration method according to any one of claims 4-9, characterized in that, The step of controlling the robotic arm to move the first calibration member to a position where the free end of the first calibration member is within the opening range of the calibration hole also includes: Obtain the force exerted on the free end of the first calibration component; If the applied force is less than the second applied force threshold, then the robotic arm is controlled to drive the first calibration component to be inserted into the calibration hole along the hole depth direction.

11. A robot-workbench relative pose calibration system, characterized in that, include: A robot includes a base and a robotic arm connected to the base, the robotic arm having a first calibration component; A workbench, wherein a second calibration component is provided; as well as The processor is used to control the robotic arm to drive the first calibration member and the second calibration member to cooperate, so that the pose of the first calibration member relative to the second calibration member is constrained to a preset pose; Obtain the first mapping relationship between the coordinate system of the first calibration component and the coordinate system of the base; The target mapping relationship between the coordinate system of the worktable and the coordinate system of the base is determined based on the first mapping relationship, the second preset mapping relationship, and the third preset mapping relationship. Wherein, the second preset mapping relationship is the mapping relationship between the coordinate system of the first calibration component and the coordinate system of the second calibration component when the first calibration component is in the preset pose, and the third preset mapping relationship is the mapping relationship between the coordinate system of the second calibration component and the coordinate system of the worktable.

12. The robot-workbench relative pose calibration system according to claim 11, characterized in that, The second calibration element includes a calibration hole whose inner contour matches the outer contour of the first calibration element.

13. The robot-workbench relative pose calibration system according to claim 12, characterized in that, The first calibration member has a protrusion on its side along the insertion direction, and the edge of the calibration hole has a positioning groove that communicates with the calibration hole and extends along the depth direction of the hole.

14. The robot-workbench relative pose calibration system according to claim 12, characterized in that, The calibration hole also has a guide surface constructed on its opening edge.

15. A robot comprising a memory and a processor, said memory storing a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the robot-workbench relative pose calibration method as described in any one of claims 1 to 10.

16. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the robot-workbench relative pose calibration method as described in any one of claims 1 to 10.

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